Trajectory tracking control of a quadrotor UAV under external disturbances based on linear ADRC

In this paper, the trajectory tracking control of a quadrotor UAV under external disturbances is considered. Hierarchical inner-outer loop control scheme is adopted which consists of two parts: the inner loop for attitude control which implements linear active disturbance rejection control strategy and the outer loop for position control which applies sliding mode control method. The stability prove of the closed loop system is given in the paper. Setting desired trajectory, the quadrotor can track it accurately. Simulation results show the good performance of the proposed control scheme under different disturbance conditions.